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add target heading

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This commit is contained in:
breadoven 2023-08-19 21:26:12 +01:00
parent bef8acca51
commit 90d8a0ef37
3 changed files with 18 additions and 11 deletions
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6
src/main/navigation/navigation.c
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@ -235,10 +235,10 @@ EXTENDED_FASTRAM multicopterPosXyCoefficients_t multicopterPosXyCoefficients;
int16_t navCurrentState;
int16_t navActualVelocity[3];
int16_t navDesiredVelocity[3];
int16_t navActualHeading;
int16_t navDesiredHeading;
int32_t navTargetPosition[3];
int32_t navLatestActualPosition[3];
int16_t navActualHeading;
uint16_t navDesiredHeading;
int16_t navActualSurface;
uint16_t navFlags;
uint16_t navEPH;
@ -3564,6 +3564,8 @@ void applyWaypointNavigationAndAltitudeHold(void)
navTargetPosition[X] = lrintf(posControl.desiredState.pos.x);
navTargetPosition[Y] = lrintf(posControl.desiredState.pos.y);
navTargetPosition[Z] = lrintf(posControl.desiredState.pos.z);
navDesiredHeading = wrap_36000(posControl.desiredState.yaw);
}
/*-----------------------------------------------------------